OPENTECHNICAL PUBLICATION
OT-2026-000001746

Control node and method performed therein

Published: 2026-09-15T19:08:20.109016Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001746
Categories: Robotics & Automation > Robot Architectures

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ABSTRACT

A method performed by a control node for handling communication with a robot
device. The control node determines a time limit for when a maximum tolerable
deviation from a trajectory is reached, for at least two control command
types. The at least two control command types include a joint-space command
and a Cartesian-space command. The control node selects the control command
type that reaches the time limit later, based on the determined time limit for
the at least two control command types.

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OpenTechnical publication OT-2026-000001746
Published 2026-09-15T19:08:20.109016Z
https://opentechnical.org/p/OT-2026-000001746